Sewage Bleedoff Robot with Visual Location of Adoption Specific Feature Recognition Based on Embedded System

摘要

One kind of binocular stereo visual location ofadoption specific feature recognition based on embedded system is used on the sewage lorry bleedoff robot in this paper. The embedded processor EPXA10 is adopted to be as the center control unit. According to the condition of sewage lorry bleedoff work, the fuzzy theory is adopted for detecting the edge of the target image and the Stereo Vision algorithm is used for the robot visual location. Aimed at the working peculiarity of the sewage discharging robot, this method can achieve the fast and exact three-dimension localization to the nozzle on the sewage lorry. According to the located coordinate, the robot can connect the sewage discharging pipes, and let sewage into the puddle.